I also live in PA (just outside Hershey) and purchased my camper through TCW in NH. I worked with directly with Northstar and picked up the camper in Iowa. Since I purchased the camper in NH and took delivery in Iowa I avoided paying sales tax and shipping.
FWIW, in PA you would still owe a 6% Use Tax. The state is being very aggressive on enforcement and if you get caught the penalty can be as much as 25% of the purchase price. I weighed the risks and decided to pay the tax.
PA Use TAX Fact SheetIf you want to see a Northstar Arrow U let me know. I am just up the road.